WO2024036582A1 - Module de transmission, module de réception, appareil de détection et dispositif terminal - Google Patents

Module de transmission, module de réception, appareil de détection et dispositif terminal Download PDF

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Publication number
WO2024036582A1
WO2024036582A1 PCT/CN2022/113441 CN2022113441W WO2024036582A1 WO 2024036582 A1 WO2024036582 A1 WO 2024036582A1 CN 2022113441 W CN2022113441 W CN 2022113441W WO 2024036582 A1 WO2024036582 A1 WO 2024036582A1
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WIPO (PCT)
Prior art keywords
optical fiber
array
light
interval
beams
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PCT/CN2022/113441
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English (en)
Chinese (zh)
Inventor
华康健
刘军
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华为技术有限公司
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Priority to PCT/CN2022/113441 priority Critical patent/WO2024036582A1/fr
Publication of WO2024036582A1 publication Critical patent/WO2024036582A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the field of optical technology, and in particular to a transmitting module, a receiving module, a detection device and a terminal equipment.
  • lidar can sense the surrounding environment, it can identify and track moving targets based on the perceived environmental information, as well as identify stationary targets such as lane lines and signboards, and can be combined with navigators and map data for path planning, etc. . Therefore, lidar plays an increasingly important role in smart terminals.
  • lidar Based on the different application requirements of lidar, there are different requirements for the beam emitted by lidar. Generally, there are higher requirements for the center field of view of lidar and lower requirements for the edge field of view. For example, the central field of view needs to detect longer distances and/or requires higher spatial resolution. However, the beam emitted by the current mainstream lidar is uniformly irradiated into the detection area, which will cause a waste of energy of the beam emitted by the lidar.
  • This application provides a transmitting module, receiving module, detection device and terminal equipment for improving the energy utilization rate of light beams.
  • this application provides a transmitting module, which includes a light source component and M optical splitters, where M is an integer greater than 1.
  • the light source component is used to emit the first light beam.
  • the first beam splitter among the M beam splitters is used to divide the first beam into N 1 second beams.
  • the field angle range of the N 1 second beams is [0, ⁇ ], and N 1 is an integer greater than 2.
  • the second beam splitter among the M beam splitters is used to divide the target second beam among the N 1 second beams into N 2 third beams, and the target second beam is located in the field of view range [0, ⁇ 1 ]
  • the second light beam, or the second light beam located in the field of view range [ ⁇ 2 , ⁇ ], ⁇ 2 is smaller than ⁇ , ⁇ 1 is larger than 0 and smaller than ⁇ 2 .
  • the second beam and the third beam are obtained through M optical splitters. Since the second beam is obtained by splitting the first beam through the first optical splitter, the third beam is obtained by splitting the target second beam through the second optical splitter. Therefore, the intensity (or energy or power) of the second beam and the third beam can be non-uniform, so that the energy distribution of the beam emitted by the emission module can be adjusted, thereby improving the first beam emitted by the light source assembly.
  • Beam energy utilization For example, the shape of the spot formed by the second beam and the third beam among the N 1 second beams except the target second beam may be a "convex" type or a quasi-"convex" type.
  • the intensity of the convex part in the "convex” or “convex”-like light spot is higher than the intensity of the non-convex part, and/or the detection distance of the convex part is farther than the detection distance of the non-convex part.
  • the “convex” or “convex”-like light spot given above is only an example.
  • the shape of the light spot in this application can also be any other possible shape, and can be adjusted based on the position of the area of interest. There is no limit to this.
  • the intensity of the second beam is greater than the intensity of the third beam; and/or, the angular interval between any two adjacent second beams among the N 1 second beams is less than that between any two adjacent second beams among the N 2 third beams.
  • the angular interval of the third beam is less than that between any two adjacent second beams among the N 2 third beams.
  • the N 1 second beams emitted by the transmitting module can be eliminated.
  • the second beam outside the target second beam is denser, and the N 2 third beams are sparse.
  • the intensity of the second beam is greater than the intensity of the third beam, it is possible to eliminate the N 1 second beams emitted by the emission module.
  • the second beam outside the target second beam can illuminate (or detect) a longer distance, and the N 2 third beams can illuminate (or detect) a closer distance.
  • the intensity of the second beam is P/N 1
  • the intensity of the third beam is P/(N 1 ⁇ N 2 )
  • P is the intensity of the first beam.
  • the second light beams except the target second light beam among the N 1 second light beams correspond to the area of interest, and the N 2 third light beams correspond to the non-interest area.
  • the second beams except the target second beam have higher intensity and smaller angular resolution; N 2 corresponding to the non-interest area
  • the third beam has smaller intensity and larger angular resolution.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • the center field of view of the transmitting module has a higher angular resolution
  • the edge field of view of the transmitting module has a lower angular resolution.
  • the intensity of the second beam in the center field of view of the emitting module is greater than the intensity of the third beam in the edge field of view, thereby helping to improve beam energy utilization.
  • the central field of view of the detection device can detect (or illuminate) a longer distance, thereby meeting the requirements of the central field of view of the detection device.
  • the non-interest area By setting the non-interest area to be the area corresponding to the edge field of view of the detection device, the impact on the detection range of the detection device can be minimized, which not only ensures the normal application of the detection device, but also improves the beam emitted by the emission module. utilization rate.
  • the emission module further includes M-1 first deflecting prisms, and one second beam splitter corresponds to one first deflecting prism.
  • the first deflecting prism is used to deflect the target second light beam at a first angle and then propagate it to the second beam splitter.
  • Deflecting the target second light beam at a first angle through the first deflection prism helps to reduce crosstalk between the second light beam obtained by splitting the light from the first beam splitter and the third light beam obtained by splitting the light from the second beam splitter.
  • the angular interval between the adjacent second beam and the third beam located on both sides of ⁇ 1 satisfies the following formula 1:
  • ⁇ 1 is the first angle
  • ⁇ 2 is the angular interval of N 2 third beams.
  • the beam splitter includes diffractive optical elements (DOE).
  • DOE diffractive optical elements
  • DOE As a beam splitter, DOE has high diffraction efficiency, unique dispersion performance, more design freedom, and wide material options.
  • the M optical splitters also include a third optical splitter; the third optical splitter is used to divide the target third optical beam among the N 2 third optical beams into N 3 fourth optical beams, N
  • the field of view range of the two third beams is [0, ⁇ ]
  • the target third beam is the third beam located in the field of view range [0, ⁇ 3 ], or the field of view range [ ⁇ 4 , ⁇ ] of the third beam, ⁇ 3 is greater than 0 and less than ⁇ 4
  • ⁇ 4 is less than ⁇
  • the third beam splitter is at least one beam splitter after the second beam splitter.
  • the second beam, the third beam and the fourth beam are obtained through the first beam splitter, the second beam splitter and the third beam splitter. Since the second beam is obtained by splitting the first beam through the first beam splitter, the third beam is The fourth beam is obtained by splitting the target second beam through the second beam splitter, and the fourth beam is obtained by splitting the target third beam through the third beam splitter. Therefore, the intensities of the second beam, the third beam and the fourth beam may be non-uniform. , and/or the angular spacing of the second beam, the third beam and the fourth beam may also be non-uniform.
  • the light source component includes a point light source.
  • the application provides a launch module, which includes a light source component, a fiber splitting component and an array of fiber heads.
  • the fiber splitting component and the fiber head array are connected through optical fibers.
  • the fiber splitting component includes at least two cascaded Fiber Optic Splitter.
  • the light source component is used to emit the first light beam.
  • the optical fiber splitting component is used to divide the first beam into Q fourth beams, and emit the Q fourth beams through the fiber head array, where Q is an integer greater than 2.
  • the fourth light beam emitted through the first optical fiber head and the second optical fiber head in the optical fiber head array has different intensities.
  • the intensity of the fourth light beam emitted through the first optical fiber head and the second optical fiber head in the optical fiber head array is different, non-uniform distribution of the intensity of the fourth light beam emitted by the emission module can be achieved.
  • the shape of the light spot formed by the Q fourth light beams is a "convex" type or a quasi-"convex” type. Among them, the intensity of the convex part in the "convex" or “convex”-like light spot is higher than the intensity of the non-convex part.
  • the optical fiber heads in the optical fiber head array are non-uniformly distributed or evenly arranged.
  • the Q fourth beams emitted by the transmitting module can be non-uniformly distributed; through the uniform distribution of the fiber heads in the fiber head array, the Q fourth beams emitted by the transmitting module can be made The four beams are evenly distributed.
  • the optical fiber head array includes a first optical fiber head array and a second optical fiber head array, the first optical fiber head belongs to the first optical fiber head array, and the second optical fiber head belongs to the second optical fiber head array; through the first optical fiber head array
  • the intensity of the fourth light beam emitted by the optical fiber head is greater than the intensity of the fourth light beam emitted by the second optical fiber head; and/or, the first interval between the optical fiber heads in the first optical fiber head array is smaller than that in the second optical fiber head array.
  • Second space between fiber optic heads is used to Second space between fiber optic heads.
  • the angular spacing of the fourth beam emitted by the transmitting module can be changed through the first spacing of the first optical fiber head array and the second spacing of the second optical fiber head array, thereby changing the spacing between light spots formed by the fourth beam.
  • the optical fiber splitting component includes a first optical fiber splitting area and a second optical fiber splitting area
  • the first optical fiber splitter in the first optical fiber splitting area is connected to the first optical fiber head in the first optical fiber head array.
  • the second optical fiber splitter in the second optical fiber splitting area is connected to the second optical fiber head in the second optical fiber head array, wherein the number of stages of the cascaded first optical fiber optical devices in the first optical fiber splitting area It is smaller than the number of stages of the second optical fiber splitter cascaded in the second optical fiber splitting area.
  • the intensity of the fourth beam emitted by the transmitting module can be changed through the number of stages of the cascaded optical fiber splitters.
  • the fourth light beam emitted through the first optical fiber head corresponds to the area of interest
  • the fourth light beam emitted through the second optical fiber head corresponds to the non-interest area
  • the intensity (or power) of the light spot of the fourth light beam corresponding to the area of interest is larger, and the intensity (or power) of the light spot of the fourth light beam corresponding to the non-interest area is small.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • the intensity (or power) of the spot of the fourth beam corresponding to the central field of view of the emitting module is larger, and the intensity (or called power) of the spot of the fourth beam corresponding to the edge field of view of the emitting module is larger. smaller.
  • the emission module further includes a first lens component; the first interval satisfies the following formula 2, and the second interval satisfies the following formula 3.
  • f 1 is the equivalent focal length of the first lens component
  • D 1 is the first interval
  • f 1 is the equivalent focal length of the first lens component
  • D 2 is the second interval
  • the optical fiber splitter is a splitter that splits light uniformly.
  • the light source component includes a point light source.
  • the present application provides an emitting module, which includes a light source array and a second lens assembly; the light sources in the light source array are non-uniformly distributed.
  • the light source array is used to emit K fifth beams, where K is an integer greater than 2.
  • the second lens assembly is used to propagate the K fifth light beams from the light source array to the detection area.
  • the non-uniform distribution of the angular intervals of the K fifth light beams emitted by the emission module can be controlled, and then the non-uniform distribution of the light spots of the K fifth light beams can be controlled.
  • the light source array includes a first light source array and a second light source array, and the third interval between the light sources in the first light source array is different from the third interval between the light sources in the second light source array.
  • the first light source array includes light sources corresponding to the area of interest in the light source array
  • the second light source array is the light sources corresponding to the non-interest area in the light source array
  • the third interval is smaller than the fourth interval
  • the third interval By designing the third interval to be smaller than the fourth interval, the light spots of the fifth beam corresponding to the area of interest can be made denser, and the light spots of the fifth beam corresponding to the non-interest area can be made sparse.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • the light spots of the fifth beam corresponding to the central field of view of the emission module are denser, so that the emission module has a smaller angular resolution; the light spots of the fifth beam corresponding to the edge field of view of the emission module are sparser. , so that the transmitting module has a larger angular resolution.
  • the third interval satisfies the following formula 4:
  • f 2 is the equivalent focal length of the second lens assembly
  • D 3 is the third interval
  • ⁇ 1 is the angular interval of the fifth beam emitted by the light source in the first light source array
  • the fourth interval satisfies the following formula 5:
  • f 2 is the equivalent focal length of the second lens assembly
  • D 4 is the fourth interval
  • ⁇ 2 is the angular interval of the fifth beam emitted by the light source in the second light source array.
  • the current intensity injected into the light sources in the first light source array is greater than the current intensity injected into the light sources in the second light source array.
  • the intensity of the fifth light beam emitted by the light source in the first light source array can be greater than the intensity of the fifth light beam emitted by the light source in the second light source array.
  • the intensity of the fifth light beam corresponding to the area of interest is greater than the intensity of the fifth light beam corresponding to the non-interest area.
  • the area of interest includes an area corresponding to the central field of view of the emission module, and the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • the intensity (or power) of the spot of the fifth beam corresponding to the central field of view of the emitting module is larger, and the intensity (or called power) of the spot of the fifth beam corresponding to the edge field of view of the emitting module is larger. ) is smaller.
  • the light source array includes a one-dimensional light source array or a two-dimensional light source array.
  • this application provides a receiving module, which includes a detector array and a third lens assembly.
  • the detectors in the detector array are non-uniformly distributed; the third lens assembly is used to convert L from the detection area.
  • the sixth beams propagate to the detector array, L is an integer greater than 2; the detector array is used to convert the L sixth beams into electrical signals, and the electrical signals are used to determine the information of the detection area.
  • the non-uniform distribution of detectors in the detector array is designed so that the detector array receives the non-uniformly distributed sixth beam.
  • the detector array includes a first detector array and a second detector array, and the fifth interval between the detectors in the first detector array is the same as the detector in the second detector array. The sixth interval between them is different.
  • the first detector array includes detectors corresponding to the area of interest
  • the second detector array includes detectors corresponding to the non-interest area
  • the fifth interval is smaller than the sixth interval
  • the detector array can be as accurate as possible The sixth beam is received, thereby helping to improve the energy utilization of the sixth beam.
  • the fifth interval satisfies the following formula 6:
  • f 3 is the equivalent focal length of the third lens assembly
  • D 5 is the fifth interval
  • ⁇ 1 is the angular interval at which the detector in the first detector array receives the sixth beam
  • the sixth interval satisfies the following formula 7:
  • f 3 is the equivalent focal length of the third lens assembly
  • D 6 is the sixth interval
  • ⁇ 2 is the angular interval at which the detector in the second detector array receives the sixth beam.
  • the present application provides a receiving module, which includes an array of optical fiber heads and a detector array.
  • the optical fiber heads in the optical fiber head array are non-uniformly distributed.
  • the optical fiber head array and the detector array are connected through optical fibers.
  • the optical fiber heads are The array is used to propagate the H seventh beams from the detection area to the detector array, where H is an integer greater than 2; the detector array is used to convert the H seventh beams into electrical signals, and the electrical signals are used to determine the location of the detection area. information.
  • the receiving module can receive the non-uniformly distributed seventh light beam.
  • the optical fiber head array includes a third optical fiber head array and a fourth optical fiber head array, and the seventh interval between the optical fiber heads in the third optical fiber head array is the same as the seventh interval between the optical fiber heads in the fourth optical fiber head array. The eighth interval between them is different.
  • the third optical fiber head array corresponds to the area of interest
  • the fourth optical fiber head array corresponds to the non-interest area
  • the seventh interval is smaller than the eighth interval
  • the fiber head array can be as accurate as possible The seventh beam is received, thereby helping to improve the energy utilization of the seventh beam.
  • the module further includes a fourth lens component; the seventh interval satisfies the following formula 8:
  • f 4 is the equivalent focal length of the fourth lens assembly
  • D 7 is the seventh interval
  • eta 1 is the angular interval of the seventh beam received through the third optical fiber head array
  • the eighth interval satisfies the following formula 9:
  • f 4 is the equivalent focal length of the fourth lens assembly
  • D 8 is the eighth interval
  • eta 2 is the angular interval of the seventh beam received through the fourth optical fiber head array.
  • the detector array includes a detector array in which detectors are evenly distributed.
  • this application provides a detection device, which includes the above-mentioned first aspect or any one of the transmitting modules in the first aspect, and the above-mentioned fourth aspect or any one of the receiving modules in the fourth aspect; or , the detection device includes the above-mentioned second aspect or any one of the transmitting modules in the second aspect, and the above-mentioned fourth aspect or any one of the receiving modules in the fourth aspect; or, the detection device includes the above-mentioned third aspect or the third aspect.
  • the detection device includes the above-mentioned first aspect or any one of the transmitting modules in the first aspect, and The above-mentioned fifth aspect or any one of the receiving modules in the fifth aspect; or, the detection device includes the above-mentioned second aspect or any one of the transmitting modules in the second aspect, and any one of the above-mentioned fifth aspect or the fifth aspect A receiving module; or, the detection device includes the third aspect or any one of the transmitting modules of the third aspect, and the above fifth aspect or any one of the receiving modules of the fifth aspect.
  • the detection device further includes a scanning module; the scanning module is used to reflect the second beam, the fourth beam, or the fifth beam from the emission module to the detection area, and reflect the light beam from the detection area.
  • the sixth beam is reflected to the receiving module, and the sixth beam is obtained by reflecting the second beam, the fourth beam, or the fifth beam from the target in the detection area.
  • the present application provides a terminal equipment, which includes a control device and any detection device in the sixth aspect or the sixth aspect; the control device is used to control the detection device to detect the detection area.
  • Figure 1 is a schematic diagram of a possible application scenario provided by this application.
  • FIG. 2 is a schematic structural diagram of a transmitting module provided by this application.
  • Figure 3a is a schematic diagram of a second beam obtained by splitting the first beam splitter provided by the present application.
  • Figure 3b is a schematic diagram of a light spot formed by a second beam and a third beam provided by the present application;
  • Figure 4a is a schematic diagram of the distribution of light spots in the first direction of a light beam emitted by a transmitting module provided by this application;
  • Figure 4b is a schematic diagram of the distribution of light spots in the first direction of the light beam emitted by another emission module provided by the present application;
  • Figure 5 is a schematic structural diagram of a light splitting component provided by this application.
  • Figure 6a is a schematic structural diagram of another transmitting module provided by this application.
  • Figure 6b is a schematic structural diagram of another transmitting module provided by this application.
  • FIG. 7 is a schematic structural diagram of another transmitting module provided by this application.
  • Figure 8a is a schematic structural diagram of an optical fiber head array provided by the present application.
  • Figure 8b is a schematic structural diagram of another optical fiber head array provided by the present application.
  • Figure 9a is a schematic diagram of the distribution of light spots in the first direction of the fourth beam emitted by a transmitting module provided by the present application;
  • Figure 9b is a schematic structural diagram of an optical fiber splitting component provided by this application.
  • Figure 10a is a schematic structural diagram of another transmitting module provided by this application.
  • Figure 10b is a schematic diagram of the spot distribution of a fourth light beam provided by the present application.
  • FIG 11 is a schematic structural diagram of another transmitting module provided by this application.
  • Figure 12a is a schematic diagram of another light source array provided by the present application.
  • Figure 12b is a schematic structural diagram of a receiving module provided by this application.
  • FIG. 13 is a schematic structural diagram of another transmitting module provided by this application.
  • Figure 14 is a schematic structural diagram of a receiving module provided by this application.
  • Figure 15 is a schematic structural diagram of a detector array provided by this application.
  • FIG 16 is a schematic structural diagram of another receiving module provided by this application.
  • FIG 17 is a schematic structural diagram of another receiving module provided by this application.
  • Figure 18 is a schematic structural diagram of another detector array provided by the present application.
  • Figure 19a is a schematic structural diagram of an optical fiber head array provided by this application.
  • Figure 19b is a schematic structural diagram of another optical fiber head array provided by this application.
  • Figure 20 is a schematic structural diagram of the detection device provided by this application.
  • the area of interest refers to the area that needs to be processed in the detection area in the form of a box, circle, ellipse, irregular polygon, etc.
  • the area of interest contains detection targets or areas that need to be focused on.
  • the spot usually refers to the energy density (or intensity or power) distribution formed by the light beam in the angular space.
  • the energy density distribution of the light spot can be low at both ends and high in the middle (or called a "convex" shape or a "convex”-like shape).
  • the energy density distribution can be a normal distribution (Normal distribution) or something similar to normal.
  • the energy density of the light spot can also be uniformly distributed.
  • the angular interval of light beams refers to the angle formed between two adjacent light beams.
  • the instantaneous field of view refers to the light receiving angle or observation field of view of a single detection element in the sensor.
  • the transmitting module can be integrated into the detection device, and the detection device can be installed on the vehicle.
  • the detection device may be a laser radar, for example.
  • Figure 1 exemplarily shows a schematic diagram of a possible application scenario of the present application.
  • the detection device is installed on the front of the vehicle as an example. It can be understood that the detection device can also be installed in other positions of the vehicle, such as any one or more of the four directions of front, rear, left, and right, so as to capture information about the surrounding environment of the vehicle.
  • the working principle of the detection device is: the detection device emits a beam to the detection area. If there is a target in the detection area, the target can reflect the received beam back to the detection device (the reflected beam can (called echo signal), and the detection device determines the relevant information of the target based on the echo signal. Specifically, the detection device can obtain the longitude, latitude, speed, and orientation of the vehicle in real time or periodically, or the associated information (such as the distance of the target, the distance of the target, etc.) speed, and/or target attitude, etc.). Further, optionally, the detection device can send the obtained information to a control device in the vehicle, so that the control device can perform path planning of the vehicle based on the obtained information.
  • the longitude and latitude can be used to determine the location of the vehicle, or the speed and orientation can be used to determine the vehicle's driving direction and destination in the future, or the distance of surrounding objects can be used to determine the number and density of obstacles around the vehicle.
  • ADAS advanced driver assistance system
  • the emission module can also be integrated into a car light, which is installed on the vehicle.
  • the car light can also implement an adaptive driving beam (ADB) system, or project text or traffic signs. It can illuminate complex graphics or project video images, etc., adding auxiliary driving and entertainment functions.
  • ADB adaptive driving beam
  • the emission module can also be integrated into a lighting fixture and installed on the stage as a stage lighting fixture.
  • a detection device integrated with the launch module provided by this application can also be installed on a drone as an airborne detection device.
  • the detection device integrated with the transmitting module provided by this application can also be installed in a roadside unit (RSU) as a roadside traffic detection device.
  • RSU roadside unit
  • the detection device integrated with the transmitting module provided by this application can also be installed on an automated guided vehicle (AGV).
  • the AGV is equipped with an automatic navigation device such as electromagnetic or optical, and can navigate along prescribed routes.
  • the above application scenarios can be applied to fields such as unmanned driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, biomedicine, or mapping (such as three-dimensional mapping).
  • the light beam emitted by the lidar is uniformly projected to the detection area, which results in a waste of energy of the light beam emitted by the lidar.
  • this application proposes a transmitting module.
  • the emission module can project the beam non-uniformly into the detection area to meet the detection needs and improve the energy utilization of the projected beam. For example, in the light beam projected by the emission module into the detection area, the intensity of the light beam corresponding to the area of interest is greater than the intensity of the light beam corresponding to the non-interest area, and/or the angular interval of the light beam corresponding to the area of interest is greater than that of the area of interest. The angular spacing of the beams corresponding to non-interest areas.
  • the emission module includes a light source component and M optical splitters, where M is an integer greater than 1.
  • the light source component is used to emit the first light beam.
  • the first beam splitter among the M beam splitters is used to divide the first beam into N 1 second beams.
  • the field of view angle range of the N 1 second beams is [0, ⁇ ], where 0 refers to N 1
  • the starting position of the field of view angle of the second light beam (or called the lower boundary or lower edge)
  • ⁇ refers to the end position of the field of view angle of N 1 second light beams (or called the upper boundary or upper edge)
  • N 1 is an integer greater than 2.
  • the field of view angle of N 1 second light beams is ⁇ , which represents the maximum field of view range that can be detected by N 1 second light beams.
  • the second beam splitter among the M beam splitters is used to divide the target second beam among the N 1 second beams into N 2 third beams, and the target second beam is located in the field of view range [0, ⁇ 1 ]
  • the second beam, or the target second beam is a second beam located in the field of view range [ ⁇ 2 , ⁇ ], ⁇ 2 is smaller than ⁇ , ⁇ 1 is larger than 0 and smaller than ⁇ 2 .
  • FIG. 2 is an example of including two second optical splitters, and the second optical splitter may also include one, which is not limited in this application.
  • the target second beam is the second beam at the boundary of the field of view formed by N 1 second beams. It can also be understood that the target second beam is the second beam at the lower boundary among the N 1 second beams, or the target second beam is the second beam at the upper boundary among the N 1 second beams. In other words, the target second beam is the second beam located at 0° among the N 1 second beams, or the target second beam is the second beam located at ⁇ among the N 1 second beams.
  • the field of view range of the N 1 second light beams is also expressed as [- ⁇ /2, ⁇ /2].
  • the target second beam is the second beam located in the field of view range [- ⁇ /2, ⁇ 1 ], or the target second beam is the second beam located in the field of view range [ ⁇ 2 , ⁇ /2] , ⁇ 2 is smaller than ⁇ /2, ⁇ 1 is larger than - ⁇ /2 and smaller than ⁇ 2 .
  • the target second beam is the second beam located at - ⁇ /2 among the N 1 second beams, or the target second beam is located at ⁇ /2 among the N 1 second beams. of the second beam.
  • Figure 3a is a schematic diagram of N 1 second light beams obtained by splitting the first beam splitter provided in this application.
  • the first beam splitter divides the first beam into seven second beams.
  • the seven second beams are respectively second beam 0, second beam 1, second beam -1, second beam 2,
  • the second beam-2, the second beam 3 and the second beam-3, the target second beam includes the second beam 3 and the second beam-3.
  • the second beam 3 and the second beam -3 are the second beams at the boundary of the field of view formed by the seven second beams.
  • the second beam 3 and the second beam -3 are two target second beams among the seven second beams.
  • the second beam -3 is located in the field of view range [0, ⁇ 1 ], and the second beam -3 is located in Field of view range [ ⁇ 2 , ⁇ ].
  • the field of view angle range [0, ⁇ ] formed by these seven second beams is the angle range between the second beam -3 and the second beam 3.
  • the second beam and the third beam are obtained through M beam splitters. Since the second beam is obtained by splitting the first beam through the first beam splitter, the third beam is obtained by passing through the second beam splitter to the target. It is obtained by splitting two beams. Therefore, the intensity of the second beam and the third beam can be non-uniform, so that the energy distribution of the beam emitted by the emission module can be adjusted, thereby improving the energy utilization of the first beam emitted by the light source assembly.
  • the shape of the light spot formed by the second beam and the third beam among the N 1 second beams except the target second beam may be a "convex" type or a "convex" type, please refer to Figure 3b.
  • the intensity of the convex part in the "convex” or “convex”-like light spot is higher than the intensity of the non-convex part.
  • the angular interval of the second light beam and the angular interval of the third light beam may be the same, or may be different.
  • the angular intervals corresponding to the convex parts in a "convex" or “convex”-like light spot are smaller than the angular intervals corresponding to the non-convex parts.
  • the intensity of the second light beam is greater than the intensity of the third light beam.
  • the intensity of the second beam is P/N 1
  • the intensity of the third beam is P/(N 1 ⁇ N 2 )
  • P is the intensity of the first beam.
  • the N 1 second beams may have the same intensity
  • the N 2 third beams may have the same intensity. It can be understood that if P represents the power of the first beam, the power of the second beam is P/N 1 , and the power of the third beam is P/(N 1 ⁇ N 2 ).
  • the angular spacing of N 1 second beams is smaller than the angular spacing of N 2 third beams. It can also be understood that the N 1 second beams are denser and the N 2 third beams are sparse. It should be noted that the N 1 second beams have the same angular spacing, and the N 2 third beams have the same angular spacing.
  • Figure 4a is an exemplary diagram illustrating the distribution of the light spots of the second beam and the third beam emitted by a transmitting module in the first direction.
  • the second beam includes two target second beams.
  • the spacing of the light spots of the second beam is smaller than the spacing of the light spots of the third beam, and the intensity of the light spots of the second beam is greater than the intensity of the light spots of the third beam.
  • the darker the color the greater the intensity of the light spot.
  • the emission module may also include a second beam splitter. Based on this, please refer to Figure 4b for the distribution of the light spot of the light beam emitted by the emission module in the first direction.
  • the second beams except the target second beam correspond to the area of interest
  • the N 2 third beams correspond to the non-interest area.
  • the angular intervals of the second beams except the target second beam are smaller
  • the angular intervals of the N 2 third beams corresponding to the non-interest area are larger.
  • the spot intensity (or power) of the second beam except the target second beam is larger
  • the N 2 second beams corresponding to the non-interest area The intensity (or power) of the light spot of the third beam is smaller.
  • the N 2 third beams corresponding to the non-interest area are designed to have a larger intensity (or power).
  • the intensity (or power) of the light spot of the light beam is small, which helps to improve the energy utilization rate of the light beam emitted by the sending module.
  • the area of interest may be, for example, the area corresponding to the central field of view of the emission module
  • the non-interesting area may be the area corresponding to the edge field of view (or non-central field of view) of the emission module.
  • the spots of the second beams except the target second beam are denser
  • the spots of the N 2 third beams corresponding to the edge field of view of the emission module are relatively sparse.
  • the spot intensity (or power) of the second beam except the target second beam is larger, and the spot intensity (or power) of the second beam corresponding to the edge field of view of the emission module is larger.
  • the intensity (or power) of the light spots of the N 2 third beams is smaller. It can be understood that denser light spots correspond to higher angular resolution, and sparser light spots correspond to lower angular resolution. In this way, the center field of view of the emission module can have a smaller angular resolution, and the edge field of view of the emission module can have a larger angular resolution.
  • the area of interest may be an area where the "interested" target (such as a dynamic target and/or a stationary target) is located, and the non-interest area may be an area other than the area of interest.
  • the area where the "object of interest” is located can have a smaller angular resolution, and other areas can have a larger angular resolution.
  • the area of interest and the non-interest area may also be other possible areas, which are not limited in this application.
  • the entire field of view of the transmitting module corresponds to at least one region of interest.
  • the shape of the region of interest may also be square, circular, elliptical, or other regular or irregular shapes, which is not limited in this application.
  • the light source component may be a point power supply.
  • the point light source may include, for example, but is not limited to, a laser diode (LD), a diode pumped solid state laser (DPSS), a fiber laser, or a vertical cavity surface emitting laser.
  • Laser vertical cavity surface emitting laser, VCSEL
  • edge emitting laser edge emitting laser, EEL
  • the emission module includes M optical splitters, where M is an integer greater than 1.
  • the M optical splitters include a first optical splitter and a second optical splitter.
  • the first optical splitter belongs to the first-level optical splitter
  • the second optical splitter belongs to the second-level optical splitter.
  • the M optical splitters may also include a third optical splitter, and the third optical splitter belongs to the third-level optical splitter, and so on.
  • the first-level optical splitter may include a first optical splitter
  • the second-level optical splitter may include a second optical splitter, or may include two second optical splitters
  • the third-level optical splitter may include a third optical splitter. detector, or may include two third beam splitters.
  • the number of optical splitters included in each level of optical splitter can be flexibly designed based on actual needs, and this application does not limit this.
  • the first beam splitter is used to divide the first beam into N 1 second beams
  • the second beam splitter is used to divide the target second beam among the N 1 second beams into N 2 third beams
  • the third beam splitter is used to divide the target second beam among the N 1 second beams.
  • the spectrometer is used to divide the target third beam among the N 2 third beams into N 3 fourth beams.
  • the field of view range of the N 2 third beams is [0, ⁇ ].
  • the target third beam is located at the visual field.
  • the third light beam in the field angle range [0, ⁇ 3 ], or the third light beam located in the field angle range [ ⁇ 4 , ⁇ ], ⁇ 3 is greater than 0 and less than ⁇ 4 , and ⁇ 4 is less than ⁇ .
  • the target third beam is the third beam located at - ⁇ /2 among the N 2 third beams, and the target third beam is the third beam located at ⁇ /2 among the N 2 third beams. Three beams.
  • the field of view range of the N 2 third beams is [- ⁇ /2, ⁇ /2].
  • the target third beam is the third beam located in the field of view range [- ⁇ /2, ⁇ 3 ], or the target third beam is the second beam located in the field of view range [ ⁇ 4 , ⁇ /2] , ⁇ 4 is smaller than ⁇ /2, ⁇ 3 is larger than - ⁇ /2 and smaller than ⁇ 4 .
  • the target third beam is the third beam located at - ⁇ /2 among the N 2 third beams, or the target third beam is located at ⁇ /2 among the N 2 third beams. of the third beam.
  • the emission module may also include M-1 first deflection prisms, and one second beam splitter.
  • the detector corresponds to a first deflecting prism
  • a third beam splitter corresponds to a second deflecting prism, and so on.
  • the first deflecting prism is used to deflect the target second light beam at a first angle and then propagate it to the second beam splitter.
  • the first deflecting prism is used to deflect the target second light beam at a first angle in a direction away from the central field of view of the N 1 second light beams. Referring to FIG.
  • the first deflecting prism 11 deflects the target second beam among the N 1 second beams by a first angle ⁇ 11 and then propagates it to the second beam splitter 21 .
  • the first deflecting prism 12 deflects the target second beam among the N 1 second beams by a first angle ⁇ 12 and then propagates it to the second beam splitter 22 .
  • the second deflecting prism is used to deflect the target third light beam at a second angle and then propagate it to the third beam splitter.
  • the first polarizing prism and the second polarizing prism may be the same or different.
  • the first angle at which the first deflection prism deflects the second target light beam and the second angle at which the second deflection prism deflects the target third light beam may be the same or different, which is not limited in this application.
  • the first beam is divided into N 1 second beams through the first beam splitter.
  • the angular intervals of the N 1 second beams are the same, both are ⁇ 1 , and each of the N 1 second beams is The intensity is P/N 1 .
  • the target second beam among the N 1 second beams is deflected by the first deflection prism 11 at a first angle ⁇ 11 and then enters the second beam splitter 21.
  • the second beam splitter 21 divides the received second beam into N There are 21 third beams and N 21 third beams with the same angular interval, which are all ⁇ 21 .
  • the intensity of each second beam among the N 21 second beams is P/N 1 N 21 .
  • the target second beam of N 1 second beams is deflected by the first deflection prism 12 at a first angle ⁇ 12 and then enters the second beam splitter 22.
  • the second beam splitter 22 divides the received second beam into N 22 N 22 third beams, the angular interval of the N 22 third beams is ⁇ 22 , and the intensity of each third beam among the N 22 third beams is P/N 1 N 22 .
  • ⁇ 1 is smaller than ⁇ 22
  • ⁇ 1 is smaller than ⁇ 21
  • ⁇ 21 and ⁇ 22 may be the same or different.
  • ⁇ 21 and ⁇ 22 are the same and are expressed as ⁇ 2 as an example; N 22 and N 21 are the same and are expressed as N 2 as an example; the first-stage optical splitter includes a first optical splitter As an example, each stage after the first stage includes two corresponding beam splitters.
  • the second-level optical splitter includes two second optical splitters, the third-level optical splitter includes two third optical splitters, and so on, and the m-th optical splitter includes two m-th optical splitters.
  • this application is provided with a relationship between the angular intervals between light beams split by an m-level beam splitter, where m is an integer greater than 1.
  • the angular interval of the N 1 second beams obtained through the first beam splitter is ⁇ 1
  • the angular interval of the N 2 third beams obtained through the second beam splitter is ⁇ 2 , located on both sides of ⁇ 1
  • the angular interval between the adjacent second beam and the third beam on the side satisfies the following formula 1. It can also be understood that the angular interval between the third beam and the second beam adjacent to the third beam satisfies the following formula 1.
  • N m-1 m-th beams are obtained through the m-1th beam splitter
  • N m m+1-th beams are obtained through the m-th beam splitter
  • the m+1-th beam is adjacent to the m+1-th beam.
  • the angular interval between m beams satisfies the following formula 10.
  • the intensity of each of the N 1 second beams obtained by splitting the first beam splitter is P/N 1
  • the intensity of each of the N 2 third beams obtained by splitting the second beam splitter is P/N 1
  • the intensity of the three beams is P/(N 1 ⁇ N 2 )
  • the optical splitter may be a DOE.
  • DOE has high diffraction efficiency, unique dispersion properties, more design freedom, and wide material options.
  • the emission module may also include a collimation component.
  • the collimation component may include, for example, a microlens array (microlens array, MLA) or a cylindrical mirror.
  • the cylindrical mirror includes but is not limited to a plano-convex cylindrical mirror (also known as a plano-convex cylindrical mirror). They are plano-convex cylindrical lenses), plano-concave cylindrical lenses (or plano-concave cylindrical lenses), biconvex cylindrical lenses (biconvex cylindrical lenses) and biconcave cylindrical lenses (biconcave cylindrical lenses), etc.
  • the emission module includes a light source component, a collimation component, a first beam splitter, a first deflection prism and a second beam splitter.
  • the emission module includes a first optical splitter and a second optical splitter.
  • the first beam emitted by the light source component is collimated by the collimating component and then propagated to the first beam splitter.
  • the first beam splitter is used to divide the first beam into N 1 second beams, where N 1 is an integer greater than 2, and N 1
  • the target second beam in the second beam is deflected by the first deflection prism at a first angle and then propagates to the second beam splitter.
  • the second beam splitter is used to divide the received target second beam into N 2 third beams.
  • the second beams except the target second beam are emitted to the detection area, and the N 2 third beams are also emitted to the detection area.
  • the N 1 second beams and the N 2 third beams please refer to the above-mentioned relevant introduction, and will not be repeated here.
  • the second light beams except the target second light beam form a first light spot in the detection area
  • the N 2 third light beams form a second light spot in the detection area.
  • the intensity of the first light spot is greater than the intensity of the second light spot, and/or the interval of the first light spot is smaller than the interval of the second light spot.
  • the emission module includes a light source component, a collimation component, a first beam splitter, a second beam splitter and a third beam splitter.
  • the emission module includes a first optical splitter, a second optical splitter, and a third optical splitter.
  • the first beam emitted by the light source component is collimated by the collimating component and then propagated to the first beam splitter.
  • the first beam splitter is used to divide the first beam into N 1 second beams, where N 1 is an integer greater than 2, and N 1
  • the target second beam in the second beam is deflected by the first deflection prism at a first angle and then propagates to the second beam splitter.
  • the second beam splitter is used to divide the received target second beam into N 2 third beams.
  • N 2 is an integer greater than 2.
  • the target third beam among the N 2 third beams is deflected by the second deflection prism at a second angle and then propagated to the third beam splitter.
  • the third beam splitter is used to split the target third beam.
  • N 3 fourth beams the angular interval of the N 3 fourth beams is ⁇ 3
  • N 3 is an integer greater than 2.
  • the second beam of N 1 second beams except the target second beam is directed to the detection area
  • the third beam of N 2 third beams except the target third beam is directed to the detection area
  • the N 3 third beams are directed to the detection area.
  • Four beams are directed towards the detection area.
  • the second light beams except the target second light beam form a first light spot in the detection area
  • the N 2 third light beams form a second light spot in the detection area
  • the N 3 fourth light beams form a second light spot in the detection area.
  • the area forms a third light spot.
  • the intensity of the first light spot is greater than the intensity of the second light spot
  • the intensity of the second light spot is greater than the intensity of the third light spot
  • the interval between the first light spot is less than the interval between the second light spot
  • the interval between the second light spot is less than the third light spot Spot spacing.
  • the multi-stage optical splitter can also be an integrated module, or it can also be independent multi-stage.
  • an m-level optical splitter can also be understood as an m-layer optical splitter.
  • the launch module includes a light source component, a fiber splitting component and a fiber head array.
  • the fiber splitting component and the fiber head array (optical fiber splice) are connected through optical fibers.
  • the optical fiber splitter assembly includes at least two stages of cascaded optical fiber splitters.
  • the light source component is used to emit the first light beam.
  • the optical fiber splitting component is used to divide the first light beam into Q fourth light beams, and emit the Q fourth light beams through the optical fiber head array, where Q is an integer greater than 2; through the first optical fiber head and the second second optical fiber head in the optical fiber head array The intensity of the fourth beam emitted by the optical fiber head is different.
  • two levels of cascaded optical fiber splitters are connected through optical fibers. It can be understood that the greater the number of cascaded optical fiber splitters, the smaller the intensity of the fourth beam obtained. Through the different stages of cascaded optical fiber splitters, uniform distribution of intensity can be achieved.
  • the intensity of the fourth light beam emitted through the first optical fiber head and the second optical fiber head in the optical fiber head array is different, non-uniform distribution of the intensity of the fourth light beam emitted by the emission module can be achieved.
  • the shape of the light spot formed by the Q fourth light beams is a "convex" type or a quasi-"convex” type.
  • the "convex" type or “convex” type light spot please refer to the relevant introduction mentioned above and will not be repeated here.
  • the optical fiber head in the optical fiber connector array is the end device of the optical fiber, and the interval between two adjacent optical fiber heads in the optical fiber head array can be flexibly adjusted. Further, optionally, the optical fiber heads in the optical fiber head array may be non-uniformly distributed, or may be uniformly arranged.
  • the optical fiber head array includes a first optical fiber head array and a second optical fiber head array.
  • the spacing between the optical fiber heads in the first optical fiber head array is called the first spacing
  • the spacing between the optical fiber heads in the second optical fiber head array is called the second spacing, wherein the first spacing is smaller than the second spacing.
  • the first interval between the optical fiber heads in the first optical fiber head array is taken as an example
  • the second interval between the optical fiber heads in the second optical fiber head array is also taken as an example.
  • the optical fiber head array includes a first optical fiber head array and a second optical fiber head array.
  • the spacing between the optical fiber heads in the first optical fiber head array is called the first spacing
  • the spacing between the optical fiber heads in the second optical fiber head array is called the second spacing.
  • the first spacing is smaller than the second spacing.
  • the first spacing between the fiber heads in the first fiber head array is different (such as gradient)
  • the second spacing between the fiber heads in the second fiber head array is also different (such as gradient).
  • the largest first interval in the first optical fiber head array is smaller than the smallest second interval in the second optical fiber head array.
  • the first optical fiber head array corresponds to the area of interest
  • the second optical fiber head array corresponds to the non-interest area.
  • the first interval between the optical fiber heads in the first optical fiber head array is smaller than the second interval between the optical fiber heads in the second optical fiber head array. Based on this, the light spots of the fourth light beam corresponding to the area of interest are denser, and the light spots of the fourth light beam corresponding to the non-interest area are sparse.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • first intervals between different optical fiber heads in the first optical fiber head array may be the same or different, and the second intervals between different optical fiber heads in the second optical fiber head array may be the same or different.
  • This application There is no limit to this.
  • the intervals between the spots of the corresponding fourth light beams can be the same; if the different first intervals in the first optical fiber head array are different, then the corresponding fourth light beams can have the same interval.
  • the spacing between spots of the light beam can vary.
  • the intervals of the corresponding light spots of the fourth beam can be the same; if the different second intervals in the second optical fiber array are different, then the intervals of the corresponding light spots of the fourth beam can be the same.
  • the intervals can vary.
  • the determination method of the first interval please refer to the following formula 2
  • the determination method of the second interval please refer to the following formula 3, which will not be described again this time.
  • the interval between the first optical fiber head array and the second optical fiber head array may be greater than the first interval, less than the first interval, or equal to the first interval, and may also be greater than the second interval, less than the second interval, or equal to the second interval. Two intervals.
  • the optical fiber splitting component includes a first optical fiber splitting area and a second optical fiber splitting area, and at least one of the first optical fiber splitting area and the first optical fiber splitting area includes at least two levels of cascaded optical fiber splitters, Each optical fiber splitter is used to split a received light beam (such as a first light beam or a second light beam) into at least two.
  • the first optical fiber splitting area includes at least two levels of cascaded optical fiber splitters
  • the second optical fiber splitting area includes one level of optical fiber splitters.
  • the first optical fiber splitting area includes at least two stages of cascaded optical fiber splitters
  • the second optical fiber splitting area includes at least two stages of optical fiber splitters.
  • Different fiber optic spectrometers may split the received light beams in the same or different amounts, and different fiber optic spectrometers may split the received light beams in the same or different intensities, which is not limited in this application.
  • the optical fiber splitting component may also include more than two optical fiber splitting areas, for example, include three optical fiber splitting areas or four optical fiber splitting areas. Different optical fiber splitting areas have different numbers of cascaded optical fiber splitters.
  • an optical fiber splitting component including two optical fiber splitting areas, that is, a first optical fiber splitting area and a second optical fiber splitting area.
  • the number of stages of the cascaded optical fiber splitters in the first optical fiber splitting area is smaller than the number of stages of the cascaded optical fiber splitters in the second optical fiber splitting area. Based on this, the intensity of the fourth light beam obtained through the first optical fiber splitting area is greater than the intensity of the fourth light beam obtained through the second optical fiber splitting area.
  • the first optical fiber splitting area corresponds to the area of interest
  • the second optical fiber splitting area corresponds to the non-interesting area. For an introduction to the area of interest and non-interest area, please refer to the relevant introduction mentioned above and will not be repeated here. Based on this, the intensity of the fourth light beam corresponding to the area of interest is larger, and the intensity of the fourth light beam corresponding to the non-interest area is smaller.
  • the intensity of the fourth light beam corresponding to the area of interest can be the same, or it can also be gradual; the intensity of the fourth light beam corresponding to the non-interest area can be the same, or it can also be gradual; this application has Not limited.
  • FIG. 9a it is a schematic diagram of the distribution of the light spot in the first direction of the fourth light beam emitted by a transmitting module provided by the present application.
  • the intensity of the fourth light beam corresponding to the area of interest is gradually changed, and the intensity of the light spot of the fourth light beam corresponding to the center of the area of interest is greater than the intensity of the light spot of the fourth light beam close to the non-interest area; and
  • the intensity of the fourth light beam corresponding to the non-interest area is also gradient, for example.
  • the intensity of the light spot of the fourth light beam close to the area of interest is greater than the intensity of the light spot of the fourth light beam far away from the area of interest. The darker the filled color in Figure 9a, the stronger the intensity of the light spot.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module. Based on this, the intensity (or power) of the spot of the fourth beam corresponding to the central field of view of the emitting module is larger, and the intensity (or called power) of the spot of the fourth beam corresponding to the edge field of view of the emitting module is larger. smaller.
  • the optical fiber splitter in the first optical fiber splitting area can be connected to the first optical fiber head in the above-mentioned first optical fiber head array through an optical fiber, and the optical fiber splitter in the second optical fiber splitting area can be connected through the optical fiber. Connect to the second optical fiber head in the second optical fiber head array.
  • the optical fiber splitting component includes a first optical fiber splitting area, a second optical fiber splitting area and a third optical fiber splitting area.
  • the first optical fiber splitting area includes a cascaded 2-level optical fiber splitter
  • the second optical fiber splitting area includes a cascaded 3-level optical fiber splitter
  • the third optical fiber splitting area includes a cascaded 4-level optical fiber splitter.
  • the received light beam is divided into two light beams of equal intensity by each stage of optical fiber splitter.
  • the optical fiber splitter in this example is a fiber splitter with uniform light splitting, and the split intensity ratio is 50:50. .
  • the intensity of the first beam is 1, and the losses of each beam splitter are ignored.
  • the cascaded 2-stage fiber splitter in the first fiber splitting area is used to split the intensity of the first beam from the light source assembly. It is the fourth beam with an intensity of 1/4.
  • the cascaded 3-stage optical fiber splitter in the second fiber splitter area is used to divide the intensity of the first beam from the light source assembly into a fourth beam with an intensity of 1/8.
  • the cascaded 4-stage beam splitter in the three-fiber splitting area is used to divide the intensity of the first beam into a fourth beam with an intensity of 1/16.
  • the fourth beam with an intensity of 1/4 is obtained by splitting the first beam by the first optical fiber splitting area in the optical fiber splitting assembly
  • the fourth beam with an intensity of 1/8 is obtained by splitting the first optical fiber in the optical fiber splitting assembly.
  • the fourth light beam with an intensity of 1/16 is obtained by splitting the first light beam in the light splitting area, and is obtained by dividing the first light beam in the third optical fiber light splitting area in the optical fiber light splitting assembly.
  • the emission module may also include other possible structures, for example, the emission module may also include a first lens group.
  • the first lens assembly includes at least one lens.
  • the lens may be, for example, a spherical lens (for example, a concave lens, a convex lens, etc.), or it may be an aspherical lens.
  • the combination of multiple spherical lenses and/or aspherical lenses as the first lens component helps to improve the imaging quality of the detection device and reduce the aberration of the optical imaging system.
  • convex lenses include biconvex lenses, plano-convex lenses, and meniscus-convex lenses.
  • Concave lenses include biconcave lenses, plano-concave lenses, and meniscus-convex lenses. This application does not limit the types of convex lenses and concave lenses.
  • the material of the lens in the first lens assembly may be optical materials such as glass, resin or crystal.
  • the material of the lens is resin, it helps to reduce the mass of the emission module.
  • the material of the lens is glass, it helps to further improve the imaging quality of the emitting module.
  • the first lens assembly includes at least one lens made of glass material.
  • the emission module includes a light source component, a fiber splitter component, a fiber head array and a first lens component.
  • the optical fiber splitting component includes a first optical fiber splitting area and a second optical fiber splitting area
  • the optical fiber head array includes a first optical fiber head array and a second optical fiber head array.
  • the first optical fiber splitting area includes a cascaded 3-level optical fiber splitter
  • the second optical fiber splitting area includes a cascaded 4-level optical fiber splitter.
  • the optical fiber splitter part with a total of three cascade levels is called the first optical fiber splitting area
  • the optical fiber splitter part with a total of four cascade levels is called the second optical fiber splitting area.
  • the first optical fiber splitter region and the second optical fiber splitter may have a partially shared optical fiber splitter.
  • the fiber heads in the first fiber head array are connected to the fiber splitter in the first fiber splitting area through optical fibers
  • the fiber heads in the second fiber head array are connected to the fiber splitter in the second fiber splitting area through optical fibers.
  • the fourth light beam obtained after splitting the first light beam by the optical fiber splitter in the first optical fiber splitting area propagates to the first optical fiber head array through the optical fiber, and is emitted through the first optical fiber head array;
  • the fourth light beam obtained after the optical fiber splitter splits the first light beam is propagated to the second optical fiber head array through the optical fiber, and is emitted through the second optical fiber head array.
  • the first interval between the first optical fiber heads in the first optical fiber head array is smaller than the second interval between the second optical fiber heads in the second optical fiber head array. Therefore, the fourth light beam emitted through the first optical fiber head array has The angular interval is smaller than the angular interval of the fourth light beam emitted through the second optical fiber head array.
  • the intensity of the first light beam after being split by the first optical fiber splitting area is 1/8, and the intensity of the first light beam after being split by the second optical fiber splitting area is 1/16. Furthermore, the intensity of the first light beam after being split by the first optical fiber head array is The intensity of the fourth light beam emitted by the optical fiber head is greater than the intensity of the fourth light beam emitted through the second optical fiber head in the second optical fiber head array. Please refer to Figure 10b. The darker the filled color, the greater the intensity of the light spot.
  • the first interval between the first optical fiber heads in the first optical fiber head array satisfies the following formula 2
  • the second interval between the second optical fiber heads in the second optical fiber head array satisfies the following formula 3.
  • f 1 is the equivalent focal length of the first lens group
  • D 1 is the first interval
  • f 1 is the equivalent focal length of the first lens group
  • D 2 is the second interval
  • f 1 is the equivalent focal length of the fourth light beam emitted through the second optical fiber head array.
  • first intervals in the first optical fiber head array are the same, and different second intervals in the second optical fiber head array are the same.
  • the emission module includes a light source array and a second lens assembly.
  • the light sources in the light source array are non-uniformly distributed.
  • the light source array includes a first light source array and a second light source array, and a third interval between the light sources in the first light source array is different from a fourth interval between the light sources in the second light source array.
  • the light source array is used to emit K fifth beams, where K is an integer greater than 2.
  • the second lens assembly is used to propagate the K fifth light beams from the light source array to the detection area.
  • the non-uniform distribution of the angular intervals of the K fifth beams emitted by the emission module can be controlled, and then the non-uniform distribution of the light spots of the K fifth beams can be controlled.
  • the non-uniform distribution of the angular spacing of the K fifth light beams can be controlled. It can be understood that the smaller the angular interval is, the smaller the angular resolution is; the larger the angular interval is, the greater the angular resolution is.
  • the third intervals between different light sources in the first light source array may be the same or different; the fourth intervals between different light sources in the second light source array may be the same or different; this application does not make any reference to this. limited.
  • the interval between the first light source array and the second light source array may be the same as the third interval or the fourth interval, or may be different from both the third interval and the fourth interval, which is not limited in this application.
  • the light source array includes m ⁇ n light sources, m is an integer greater than 1, and n is a positive integer; or m is a positive integer, and n is an integer greater than 1.
  • the light source array may be a one-dimensional light source array (or called a linear type). Please refer to Figure 12a.
  • the light source array includes 8 light sources. These eight light sources are arranged in strips, and the light source array is distributed at non-equal intervals.
  • the light source array includes a first light source array and a second light source array. In this example, different third intervals in the first light source array have the same size, and different fourth intervals in the second light source array have the same size.
  • the light source array may also be a two-dimensional array (or called an area array).
  • the light source array includes a first light source array and a second light source array.
  • the interval between the light sources in the first light source array is called the third interval
  • the interval between the light sources in the second light source array is called the fourth interval.
  • the first light source array includes light sources corresponding to the area of interest in the light source array
  • the second light source array includes light sources corresponding to the non-interest area in the light source array.
  • the interval between the light sources in the first light source array corresponding to the area of interest in the light source array is called the third interval
  • the interval between the light sources in the second light source array corresponding to the non-interest area in the light source array is called the fourth interval.
  • the third interval is smaller than the fourth interval. Based on this, the light spots of the fifth light beam corresponding to the area of interest are denser, and the light spots of the fifth light beam corresponding to the non-interest area are sparse.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • the shapes of the light sources in the light source arrays shown in FIGS. 12a and 12b are only examples, and the shape of the light sources is not limited in this application.
  • the shape of the light source may also be circular, square, elliptical, etc.
  • the light source array can be independently addressed. Independent addressing means that the light sources in the light source array can be independently gated (or lit, turned on, or energized), and the gated light sources can be used to emit a third light beam. Specifically, a driving current can be input to the light source that needs to be gated to realize the gated light source. Specifically, the current intensity input to the light source of the first light source array in the light source array is greater than the current intensity input to the light source of the second light source array. In this way, the intensity of the fifth light beam emitted by the light source in the first light source array can be greater than the intensity of the fifth light beam emitted by the light source in the second light source array.
  • the intensity of the fifth light beam corresponding to the area of interest is greater than the intensity of the fifth light beam corresponding to the non-interest area.
  • the area of interest includes an area corresponding to the central field of view of the emission module
  • the non-interesting area includes an area corresponding to the edge field of view of the emission module.
  • the addressing method of the light source array may include, but is not limited to, gating the light sources column by column, gating the light sources row by row, or gating the light sources according to the area of interest, etc. It can be understood that the addressing mode of the light source array is also related to the physical connection relationship of the light sources. Referring to the above-mentioned Figure 12b, for example, if the light sources in the same column in the light source array are connected in series and different columns are connected in parallel, the light sources in the light source array can be gated column by column. For another example, if the light sources in the same row of the light source array are connected in series and different rows are connected in parallel, the light sources in the light source array can be gated row by row. For another example, if the light sources on diagonal lines in the light source array are connected in series and the light sources on different diagonal lines are connected in parallel, the light sources in the light source array can be gated according to the diagonal lines.
  • the light sources in the light source array may be VCSEL, EEL, DPSS, fiber laser or LD, etc.
  • the second lens assembly may include at least one lens.
  • the lens please refer to the aforementioned introduction of the first lens assembly, and will not be described again here.
  • the third interval between the light sources in the first light source array satisfies the following formula 4
  • the fourth interval between the light sources in the second light source array satisfies the following formula 5.
  • f2 is the equivalent focal length of the second lens assembly
  • D3 is the third interval
  • ⁇ 1 is the angular interval of the fifth beam emitted by the light source in the first light source array.
  • f 2 is the equivalent focal length of the second lens assembly
  • D 4 is the fourth interval
  • ⁇ 2 is the angular interval of the fifth light beam emitted by the light source occupied by the second light source.
  • the emission module includes a light source array and a second lens component.
  • the light source array is located on the object focal plane of the second lens component.
  • the light source array is a one-dimensional light source array.
  • the light source array includes a first light source array and a second light source array.
  • the third interval between the light sources in the first light source array is smaller than the third interval between the light sources in the second light source array.
  • the current intensity injected into the light sources in the first light source array is greater than the current intensity injected into the light sources in the second light source array.
  • the intensity non-uniform distribution of the K fifth light beams emitted by the light source array can be controlled.
  • the non-uniform distribution of the angular intervals of the K fifth light beams can be controlled, and then the non-uniform distribution of the light spots of the K fifth light beams can be controlled. .
  • the receiving module includes a detector array and a third lens assembly.
  • the detectors in the detector array are non-uniformly distributed.
  • the detector array includes a first detector array and a second detector array, and the fifth interval between the detectors in the first detector array is the same as that in the second detector array.
  • the sixth intervals between the detectors are different;
  • the third lens assembly is used to propagate L sixth beams from the detection area to the detector array, L is an integer greater than 2; the detector array is used to transmit L sixth beams
  • the light beam is converted into an electrical signal, which is used to determine information about the detection area.
  • the information of the detection area includes but is not limited to the related information of the target in the detection area, wherein the related information of the target includes but is not limited to the distance information of the target, the orientation of the target, the speed of the target, and/or the grayscale information of the target. wait.
  • the non-uniform distribution of detectors in the detector array is designed so that the detector array receives the non-uniformly distributed sixth beam. For example, by designing the fifth interval in the first detector array to be different from the sixth interval in the second detector array, the detectors in the detector array can be distributed non-uniformly.
  • the sixth beam can also be called an echo signal, which is a beam obtained by reflecting the beam emitted by the transmitting module from the target in the detection area.
  • the fifth intervals of the detectors in the first detector array may be the same or different; the sixth intervals of the detectors in the second detector array may be the same or different, which is not limited in this application. .
  • the interval between the first detector array and the second detector array may be different from the fifth interval, and may also be different from the sixth interval; or it may be equal to the fifth interval, or it may be equal to the sixth interval. This application There is no limit to this.
  • the first detector array includes detectors corresponding to the area of interest
  • the second detector array includes detectors corresponding to the non-interest area.
  • the fifth interval is smaller than the sixth interval.
  • the area of interest and non-interest area please refer to the relevant introduction mentioned above and will not be repeated here. Since the angular interval of the sixth beam corresponding to the detection area is small and the angular interval of the sixth beam corresponding to the non-interest area is large, by designing the fifth interval to be smaller than the sixth interval, the detector array can be as accurate as possible The sixth beam is received, thereby helping to improve the energy utilization of the sixth beam.
  • the third lens assembly is used to receive L sixth light beams from the detection area and propagate the L sixth light beams to the detector array.
  • the third lens assembly includes at least one lens.
  • the lens please refer to the aforementioned introduction of the first lens assembly, and will not be described again here.
  • the detector array is located at the image-side focal plane of the third lens assembly.
  • the detector array includes a first detector array and a second detector array.
  • the fifth interval between detectors in the first detector array satisfies the following formula 6.
  • the detectors in the second detector array The sixth interval between satisfies the following formula 7.
  • f 3 is the equivalent focal length of the third lens assembly
  • D 5 is the fifth interval
  • ⁇ 1 is the angular interval at which the detector in the first detector array receives the sixth beam
  • f 3 is the equivalent focal length of the third lens assembly
  • D 6 is the sixth interval
  • ⁇ 2 is the angular interval at which the detector in the second detector array receives the sixth beam.
  • the detector array includes 8 ⁇ 1 detectors as an example, and may also be called a line detector array.
  • the detector array includes a first detector array and a second detector array.
  • the different fifth intervals in the first detector array are the same, and the different sixth intervals in the second detector array are the same. example. Wherein, the fifth interval is smaller than the sixth interval.
  • the detector array includes two detector arrays with different intervals.
  • the detector array may also include two or more detector arrays with different intervals, and the details will not be repeated here.
  • the detectors in the detector array can be, for example, photodetectors (PD), P-type semiconductor-intrinsic negative-N1-type semiconductor (positive intrinsic negative, PIN) photodiodes (also known as PIN junctions). diode), avalanche photodiode (APD), or single-photon avalanche diode (SPAD) array, silicon photomultiplier (SiMP) array, etc.
  • PD photodetectors
  • P-type semiconductor-intrinsic negative-N1-type semiconductor positive intrinsic negative, PIN photodiodes
  • diode diode
  • APD avalanche photodiode
  • SPAD single-photon avalanche diode
  • SiMP silicon photomultiplier
  • the detector array shown in FIG. 15 is only an example, and the number of rows and columns included in the detector array is not limited in this application.
  • the detector array can also be a detector array with multiple rows and one column, or it can also be another detector array with multiple rows and multiple columns, which will not be listed here.
  • the shape of the detectors in the detector array may also be other possible shapes (such as circular, square or elliptical, etc.), which is not limited in this application.
  • FIG 16 it is a schematic structural diagram of another receiving module provided by this application.
  • the receiving module includes a detector array and a third lens assembly.
  • the detector array is shown in Figure 15 above as an example.
  • the sixth light beam is converged to the detector array through the third lens assembly. It can be understood that the fifth spacing of the first detector array and the equivalent focal length of the third lens assembly determine the iFOV of a single detector in the first detector array, the sixth spacing of the second detector array and the third The equivalent focal length of the lens assembly determines the iFOV of the detectors in the second detector array.
  • the receiving module includes a fiber head array and a detector array.
  • the fiber head array and the detector array are connected through optical fibers.
  • the fiber heads in the fiber head array are non-uniformly distributed.
  • the fiber head array includes a third fiber head array and a fourth fiber. head array, the seventh interval between the fiber heads in the third fiber head array is different from the eighth interval between the fiber heads in the fourth fiber head array; the fiber head array is used to combine H seventh intervals from the detection area
  • the light beam propagates to the detector array, H is an integer greater than 2; the detector array is used to convert the H seventh light beams into electrical signals, and the electrical signals are used to determine the information of the detection area.
  • H is an integer greater than 2
  • the detector array is used to convert the H seventh light beams into electrical signals, and the electrical signals are used to determine the information of the detection area.
  • the receiving module can receive the non-uniformly distributed seventh light beam.
  • the optical fiber head array may be designed to include a third optical fiber head array and a fourth optical fiber head array, with a seventh interval between optical fiber heads in the third optical fiber head array and a seventh interval between optical fiber heads in the fourth optical fiber head array.
  • the eight intervals are different, so that the intervals between the optical fiber heads in the optical fiber head array can be non-uniformly distributed.
  • the third optical fiber head array corresponds to the area of interest
  • the fourth optical fiber head array corresponds to the non-interest area.
  • the angular interval of the seventh beam corresponding to the detection area is small and the angular interval of the seventh beam corresponding to the non-interest area is large
  • the fiber head array can be as accurate as possible The seventh beam is received, thereby helping to improve the energy utilization of the seventh beam.
  • the seventh interval between different optical fiber heads in the third optical fiber head array may be the same or different, and the eighth interval between different optical fiber heads in the fourth optical fiber head array may be the same or different.
  • the interval between the third optical fiber head array and the fourth optical fiber head array may be the same as the seventh interval or the eighth interval, or may be different from both the seventh interval and the eighth interval, which is not limited in this application.
  • an optical fiber head in the optical fiber head array is connected to a detector in the detector array through an optical fiber.
  • the above-mentioned receiving module also includes a fourth lens component.
  • the fourth lens component may include at least one lens.
  • the lens please refer to the aforementioned introduction of the first lens assembly, and will not be described again here.
  • the seventh interval between the optical fiber heads in the third optical fiber head array satisfies the following formula 8
  • the eighth interval between the optical fiber heads in the fourth optical fiber head array satisfies the following formula 9.
  • f 4 is the equivalent focal length of the fourth lens assembly
  • D 7 is the seventh interval
  • eta 1 is the angular interval of the seventh beam received through the third optical fiber head array
  • f 4 is the equivalent focal length of the fourth lens assembly
  • D 8 is the eighth interval
  • eta 2 is the angular interval of the seventh beam received through the fourth optical fiber head array.
  • the detectors in the detector array can be evenly distributed, see Figure 18.
  • the detectors in the detector array may also be non-uniformly distributed. Please refer to Figure 15 above, which will not be repeated here.
  • the fiber heads in the fiber head array are non-uniformly distributed.
  • the optical fiber head array includes a third optical fiber head array and a fourth optical fiber head array.
  • the spacing between the optical fiber heads in the third optical fiber head array is the seventh spacing
  • the spacing between the optical fiber heads in the fourth optical fiber head array is the eighth spacing
  • the seventh spacing is smaller than the eighth spacing.
  • the seventh interval between the optical fiber heads in the third optical fiber head array is taken as an example
  • the eighth interval between the optical fiber heads in the fourth optical fiber head array is also taken as an example.
  • the optical fiber head array includes a third optical fiber head array and a fourth optical fiber head array.
  • the spacing between the optical fiber heads in the third optical fiber head array is the seventh spacing
  • the spacing between the optical fiber heads in the fourth optical fiber head array is the eighth spacing
  • the seventh spacing is smaller than the eighth spacing.
  • the seventh interval between the optical fiber heads in the third optical fiber head array is taken as an example
  • the eighth interval between the optical fiber heads in the fourth optical fiber head array is also different as an example. It can be understood that the largest seventh interval in the third optical fiber head array is smaller than the smallest eighth interval in the fourth optical fiber head array.
  • optical fiber head array shown in Figure 19a and Figure 19b is only an example.
  • the optical fiber head array in this application can also be distributed in other possible non-uniform ways, and this application is not limited to this.
  • the detection device may include the transmitting module in any of the above embodiments and the receiving module in any of the above embodiments, and the details will not be repeated here. It should be noted that among the modules given above, if there are no special instructions or logical conflicts, they can be combined to form other possible detection devices based on their inherent logical relationships.
  • the detection device includes the transmitting module of the first embodiment and the receiving module of the second embodiment.
  • the detector array in the receiving module includes a first detector array and a second detector array.
  • the angular interval ⁇ 1 at which the detectors in the first detector array receive the sixth beam is the same as the angular interval ⁇ 1 of the N 1 second beams, and the detector in the second detector array receives the sixth beam.
  • the angular spacing ⁇ 2 of the beams is the same as the angular spacing ⁇ 2 of the N 2 third beams.
  • the detection device includes the transmitting module of the second embodiment and the receiving module of the fourth embodiment.
  • the optical fiber head array in the launch module as an example including a first optical fiber head array and a second optical fiber head array.
  • the detector array in the receiving module includes a first detector array and a second detector array.
  • the fifth interval between the detectors in the first detector array is the same as the first interval between the optical fiber heads in the first optical fiber head array
  • the sixth interval between the detectors in the second detector array is the same.
  • the spacing is the same as the second spacing between the optical fiber heads in the second optical fiber head array.
  • the detection device includes the transmitting module of Embodiment 3 and the receiving module of Embodiment 4.
  • the light source array in the transmitting module including the first light source array and the second light source array as an example
  • take the detector array in the receiving module including the first detector array and the second detector array as an example
  • the fifth spacing between the detectors in the first detector array is the same as the third spacing between the light sources in the first light source array
  • the sixth spacing between the detectors in the second detector array is the same as the third spacing between the light sources in the second light source array.
  • the fourth spacing between the light sources is the same. It can also be understood that the light sources in the light source array correspond to the detectors in the detector array.
  • the detection device includes the transmitting module of Embodiment 1 and the receiving module of Embodiment 5.
  • the beams emitted by the emission module to the detection area include N 1 -2 second beams and N 2 third beams, where the angular interval of the N 1 second beams is ⁇ 1 , N The angular interval between the two third beams is ⁇ 2 .
  • the optical fiber head array in the receiving module includes the third optical fiber head array and the fourth optical fiber head array.
  • the angular interval eta 1 of the seventh light beam received by the third optical fiber head array is the same as the angular interval ⁇ 1 of the N 1 second light beams
  • the angular interval eta 2 of the seventh light beam received by the fourth optical fiber head array is the same as N
  • the angular intervals ⁇ 2 of the two third beams are the same.
  • the detection device may also include the transmitting module of Embodiment 2 and the receiving module of Embodiment 5.
  • the fiber head array in the transmitting module includes a first fiber head array and a second fiber head array
  • the fiber head array in the receiving module includes a third fiber head array and a fourth fiber head array.
  • the seventh interval between the optical fiber heads in the third optical fiber head array is the same as the first interval between the optical fiber heads in the first optical fiber head array
  • the seventh interval between the optical fiber heads in the fourth optical fiber head array is the same as the first interval between the optical fiber heads in the first optical fiber head array
  • the eighth interval is the same as the second interval between the optical fiber heads in the second optical fiber head array.
  • the detection device includes the transmitting module of Embodiment 3 and the receiving module of Embodiment 5.
  • the light source array in the transmitting module including a first light source array and a second light source array as an example
  • take the optical fiber head array in the receiving module as an example including a third fiber head array and a fourth fiber head array.
  • the seventh interval between the optical fiber heads in the third optical fiber head array is the same as the third interval between the light sources in the first light source array
  • the eighth interval between the optical fiber heads in the fourth optical fiber head array is the same as the fourth spacing between the light sources in the second light source array.
  • the above-mentioned detection device may also include a scanning module.
  • the scanning module is used to project (such as reflect) the received light beam to the detection area.
  • the beam emitted by the emission module is distributed in a first direction, and the scanning module can scan along the second direction to achieve a two-dimensional scan in the detection area.
  • the first direction is perpendicular to the second direction.
  • the light beam emitted by the emission module is distributed in the second direction, and the scanning module can scan along the first direction to achieve a two-dimensional scan in the detection area. Scanning through a one-dimensional scanning module can help simplify the structure of the scanning module, reduce the complexity of the detection device, and improve scanning efficiency.
  • the scanning module is used to change the scanning angle of the scanning module to change the propagation direction of the second light beam from the transmitting module to the detection area, thereby realizing scanning of the detection area.
  • the scanning module can rotate in a continuous operation mode or in a step operation mode, which is not limited in this application. In actual applications, the specific mode of rotation can be set in advance.
  • the scanning module can be located at the beam waist of the beam emitted by the transmitting module, thereby helping to reduce the volume of the detection device.
  • the scanning module may be one of a polyhedral (such as octahedron, hexahedron or tetrahedron, etc.) rotating mirror, micro electro-mechanical system (micro electro-mechanical system, MEMS) galvanometer or pendulum mirror. It should be noted that this application does not limit the type of scanning module, and any structure that can reflect the light beam from the transmitting module to the detection area is acceptable.
  • the detection device in this application may also include other possible modules, such as control modules and/or windows (see Figure 20).
  • a control device is used to control the detection device to detect the detection area.
  • the control module is also used to plan the driving path based on the determined target related information, such as avoiding obstacles on the path to be traveled, realizing automatic driving of the vehicle, etc.
  • the window is used to isolate the impact of the external environment on the detection system.
  • the control module may include one or more processing units.
  • the processing unit may be a circuit with signal (or data) processing capabilities.
  • the processor may be an instruction read A circuit that acquires and operates capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (can be understood as a microprocessor), or a digital signal processor ( digital singnal processor, DSP), etc.; in another implementation, the processor can achieve certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is an application-specific integrated circuit.
  • processors implemented by (application-specific integrated circuit, ASIC) or programmable logic device (PLD), such as field programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field programmable gate array
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning Processing unit (deep learning processing unit, DPU), etc.
  • NPU neural network processing unit
  • TPU tensor processing unit
  • DPU deep learning processing unit
  • the above-mentioned detection device may be a laser radar.
  • the terminal device may include the detection device in any of the above embodiments.
  • the terminal device may be a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, or a digital vehicle, etc.), a robot, a mapping device, a drone, or a smart home device (such as a television, a sweeping robot, or a smart desk lamp).
  • audio system intelligent lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance, etc.
  • intelligent manufacturing equipment such as industrial equipment
  • intelligent transportation equipment such as AGV, unmanned transport vehicle
  • smart terminals mobile phones, computers, tablets, PDAs, desktops, headsets, speakers, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.
  • a, b or c can mean: a, b, c, "a and b", “a and c", “b and c”, or “a and b and c” ”, where a, b, c can be single or multiple.
  • the character “/” generally indicates that the related objects are in an "or” relationship.
  • the character “/” indicates that the related objects are in a “division” relationship.
  • the word “exemplary” is used to mean an example, an illustration, or a description. Any embodiment or design described herein as “example” is not intended to be construed as preferred or advantageous over other embodiments or designs. Alternatively, it can be understood that the use of the word “example” is intended to present concepts in a specific manner and does not constitute a limitation on this application.

Abstract

Module de transmission, module de réception, appareil de détection et dispositif terminal. Le module de transmission peut être appliqué à un radar laser et peut être appliqué à des domaines tels que la conduite automatique, la conduite intelligente, la conduite assistée ou la topographie et la cartographie. Le module de transmission comprend un ensemble source de lumière et M diviseurs optiques, M étant un nombre entier supérieur à 1; l'ensemble source de lumière est utilisé pour transmettre un premier faisceau lumineux ; un premier diviseur optique des M diviseurs optiques est utilisé pour diviser le premier faisceau lumineux en N1 deuxièmes faisceaux lumineux, les N1 deuxièmes faisceaux lumineux ayant une plage d'angle de champ de vision de [0, α], et N1 est un nombre entier supérieur à 2 ; un second diviseur optique des M diviseurs optiques est utilisé pour diviser un deuxième faisceau lumineux cible des N1 deuxièmes faisceaux lumineux en N2 troisièmes faisceaux lumineux, le deuxième faisceau lumineux cible étant un deuxième faisceau lumineux situé dans la plage d'angle de champ de vision [0, β1] ou [β2, α], où β2 est inférieur à α, et β1 est supérieur à 0 et inférieur à β2. L'intensité et/ou l'intervalle d'angle des deuxièmes faisceaux lumineux et des troisièmes faisceaux lumineux obtenus après avoir traversé les M diviseurs optiques peuvent être non uniformes, ce qui permet d'améliorer le taux d'utilisation des faisceaux lumineux.
PCT/CN2022/113441 2022-08-18 2022-08-18 Module de transmission, module de réception, appareil de détection et dispositif terminal WO2024036582A1 (fr)

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CN113567956A (zh) * 2021-04-09 2021-10-29 华为技术有限公司 一种探测装置及其控制方法
CN215526114U (zh) * 2021-08-09 2022-01-14 北京一径科技有限公司 激光雷达发射装置及激光雷达
CN114152933A (zh) * 2021-12-30 2022-03-08 上海禾赛科技有限公司 光发射模块、光探测模块、激光雷达及其测距方法

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